/// <summary> /// Creates a new KalmanFilter instance. /// </summary> /// <param name="q">Process noise covariance.</param> /// <param name="r">Sensor noise covariance.</param> /// <param name="p">Estimation error covariance.</param> public KalmanFilter(float q = 0.06f, float r = 1.5f, float p = 0.08f) { _state = new KalmanState(); _state.value = new Vector3(); _state.q = q; _state.r = r; _state.p = p; }
internal Controller() { //LUKA CODE processNoise = 0.1f; sensorNoise = 1.0f; estimatedError = 0.25f; kStates = new KalmanState[3]; for(int i=0; i<kStates.Length; i++){ kStates[i] = new KalmanState(processNoise,sensorNoise,0.0f,estimatedError,0); } //ENDOF LUKA CODE m_Enabled = false; m_Docked = false; m_Hand = SixenseHands.UNKNOWN; m_HandBind = SixenseHands.UNKNOWN; m_Buttons = 0; m_ButtonsPrevious = 0; m_Trigger = 0.0f; m_JoystickX = 0.0f; m_JoystickY = 0.0f; m_Position.Set( 0.0f, 0.0f, 0.0f ); m_Rotation.Set( 0.0f, 0.0f, 0.0f, 1.0f ); }